ADAS horizon and vision supplemental V2X

ABSTRACT

An apparatus comprising an antenna, a processor and a memory. The antenna may be configured to receive signals from GNSS satellites. The processor may be configured to execute instructions. The memory may be configured to store instructions that, when executed, perform the steps of (i) calculating first location and velocity data based on the signals received from the GNSS satellites, (ii) calculating a first most probable path based on map information, (iii) receiving second location and velocity data, (iv) determining a second most probable path, (v) performing a comparison of (a) the first location and velocity data and the first most probable path to (b) the second location and velocity data and the second most probable path and (vi) determining a probability of collision based on the comparison.

FIELD OF THE INVENTION

The invention relates to global positioning generally and, moreparticularly, to a method and/or apparatus for implementing an advanceddriver assistance system (ADAS) with a horizon and vision supplement forvehicle to infrastructure or vehicle to vehicle communication.

BACKGROUND

Conventional Vehicle to Vehicle and/or Vehicle to Infrastructure systems(V2X) were envisioned in 1997 and investigated by the CAMP (CrashAvoidance Metrics Partnership) Consortium (Mercedes, GM, Toyota, Fordand Honda) in the mid 2000's. Vehicles communicate to each other over a5.9 GHz Dedicated Short Range Communication (DSRC) Wireless Access inVehicular Environments (WAVE) Radio. Vehicles transmit location, headingand speed over ground to each other so that each can process informationinto collision avoidance algorithms to create driver warnings or to takeactions (apply brakes) to avoid collision and save lives.

The U.S. government is reportedly close to issuing a mandate in 2017 forthe inclusion of V2X systems in new cars starting in model year 2020.There have been many demonstrations of prototype systems that receivepositional information from another vehicle, process collisionalgorithms and generate driver warnings or take other actions.Conventional demonstrations show vector solutions and tend to take placein parking lots and use mock-up city streets with no knowledge of actualroads.

It would be desirable to implement an ADAS horizon and/or visionsupplement to a V2X infrastructure.

SUMMARY

The invention concerns an apparatus comprising an antenna, a processorand a memory. The antenna may be configured to receive signals from GNSSsatellites. The processor may be configured to execute instructions. Thememory may be configured to store instructions that, when executed,perform the steps of (i) calculating first location and velocity databased on the signals received from the GNSS satellites, (ii) calculatinga first most probable path based on map information, (iii) receivingsecond location and velocity data, (iv) determining a second mostprobable path, (v) performing a comparison of (a) the first location andvelocity data and the first most probable path to (b) the secondlocation and velocity data and the second most probable path and (vi)determining a probability of collision based on the comparison.

BRIEF DESCRIPTION OF THE FIGURES

Embodiments of the invention will be apparent from the followingdetailed description and the appended claims and drawings in which:

FIG. 1 is a diagram illustrating an apparatus installed in vehicles in aV2X system;

FIG. 2 is a diagram of two vehicles approaching an intersectionillustrating a collision warning;

FIG. 3 is a diagram of two vehicles illustrating a potential falsepositive;

FIG. 4 is a diagram of two vehicles illustrating a possible collision;

FIG. 5 is a diagram of two vehicles illustrating a possible falsepositive in the context of an overpass;

FIG. 6 is a diagram of two vehicles illustrating a possible falsecollision based on road attributes;

FIG. 7 is a diagram illustrating a module;

FIG. 8 is a diagram illustrating a distributed arrangement for a module;

FIG. 9 is a diagram illustrating an example vision systemimplementation;

FIG. 10 is a flow diagram illustrating a method for calculating apotential collision;

FIG. 11 is a flow diagram illustrating a method for enhancing path datausing video analysis; and

FIG. 12 is a flow diagram illustrating a method for determining mostprobable path data based on vehicle capabilities.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the present invention include providing a driverassistance system that may (i) provide a horizon and vision supplementto V2X communication, (ii) use knowledge of existing roads to improvecollision detection, (iii) use knowledge from video analysis to improvecollision detection, and/or (iv) be implemented as one or moreintegrated circuits.

Referring to FIG. 1, a diagram illustrating a system 20 is shown. Thesystem 20 may comprise an implementation of Vehicle to Vehicle and/orVehicle to Infrastructure (V2X) systems. The system 20 may comprisevehicles 30 a-30 n communicating with each other and receivingcommunications from Global Navigation Satellite System (GNSS) satellites40 a-40 n. The number of vehicles 30 a-30 n and GNSS satellites 40 a-40n implemented may vary according to the design criteria of a particularimplementation.

An apparatus 100 is shown installed in each of the vehicles 30 a-30 n.In the example shown, the apparatus 100 a is shown installed in thevehicle 30 a and the apparatus 100 n is shown installed in the vehicle30 n. The apparatuses 100 a-100 n may be implemented as a block (orcircuit). The circuits 100 a-100 n may implement an ADAS Horizon systemmodule. In some embodiments, the circuits 100 a-100 n may be implementedas a circuit installed in the vehicles 30 a-30 n (e.g., a componentbuilt into the vehicle). In some embodiments, the circuits 100 a-100 nmay be implemented as an externally added circuit (e.g., an after-marketpart, a dash-mounted device, etc.). In some embodiments, the circuits100 a-100 n may be implemented as a hand-held (mobile) device that maybe transferred from vehicle to vehicle by a user (e.g., a smart phone, atablet computing device, a smart watch, etc.). In an example, the mobiledevice may enable the circuits 100 a-100 n to be used as a retrofit fora vehicle. The implementation of the circuits 100 a-100 n may be variedaccording to the design criteria of a particular implementation.

In some embodiments, the circuits 100 a-100 n may be configured toreceive communications from the GNSS satellites 40 a-40 n. In someembodiments, other components of the vehicles 30 a-30 n may beconfigured to receive communications from the GNSS satellites 40 a-40 n.Generally, the satellites 40 a-40 n may communicate signals. One or moreof the circuits 100 a-100 n and/or other components of the vehicles 30a-30 n may be configured to receive the signals from the GNSS satellitesand perform calculations based on the signals to determine location andvelocity data about the vehicles 30 a-30 n. In an example, the locationand velocity data (e.g., a vector) may comprise a location, a headingand/or speed.

As the number of vehicles with Vehicle to Vehicle and/or Vehicle toInfrastructure systems (V2X) increases, vector only solutions maygenerate potential false positives in certain cases. For example, roadgeometry alone may not allow accurate collision detection and maytrigger false positives. The circuits 100 a-100 n may be configured touse map information to reduce false positives and/or determine aprobability of a collision with another vehicle. In an example, the mapinformation may be information from ADAS Horizon. The map informationmay comprise data corresponding to the roadways near the vehicle 30(e.g., road layout, road shape, traffic data, road conditioninformation, road attributes, road incline, road decline, roadelevation, etc.). The type of data in the map information may be variedaccording to the design criteria of a particular implementation.

GNSS positional information calculated from the signals from the GNSSsatellites 40 a-40 n may be implemented in the ADAS Horizon systemmodule 100 (to be described in more detail in connection with FIG. 6) toallow the determination of a Most Probable Path (MPP) of a first (ortransmitting) vehicle (e.g., the car 30 a). The MPP may be transmittedalong with location, heading and/or speed information. The system (e.g.,the module 100 n) in a second (or receiving) vehicle (e.g., the car 30n) may use knowledge of the received MPP from the first vehicle (e.g.,the vehicle 30 a) and an MPP calculated corresponding to the receivingvehicle (e.g., the car 30 n) to calculate an amount of risk (e.g., aprobability of a collision). The MPP information may be used to reducefalse positives when location and velocity data (e.g., location, headingand speed vectors) indicate a collision may occur, but road geometrywill not permit the a likely collision. Similarly, in some scenarios,despite the vector solution indicating no collision, the calculationsbased on the MPPs may indicate that the paths will merge for a possiblecollision.

In another scenario, even with excellent GNSS reception and/or ADASmaps, lane level position is not always available and/or practical.Augmenting V2X and/or Horizon systems with sensor-based information(e.g., vision) may provide lane level resolution and/or may be used tomitigate false positives and/or false negatives in passing lanescenarios. By combining V2X and/or Horizon systems with vision, asignificant improvement to the utility of each of the systems may berealized. A high level of system integrity may result. Generally, a V2Xsystem transmits position, heading and/or speed over ground. From this,the circuits 100 a-100 n may implement V2X MPP determinations to lookfor collision warnings.

ADAS Horizon may comprise a feature map. Information about various roadswith regard to curvature, slope, lanes, speed limit, signage, etc. maybe available. The horizon algorithms use heading, location and/or speedfrom the GNSS sensor (e.g., implemented on the circuits 100 a-100 nand/or other components of the vehicles 30 a-30 n) to know where aparticular vehicle is. The map features may be used in the calculationof the Most Probable Path (MPP) that a particular vehicle will take.Extracting information from the feature map may allow the system to beaware of upcoming intersections, over passes, traffic lights, etc.

Referring to FIG. 2, a block diagram of an overhead view 50 is shown inaccordance with an embodiment of the invention. The view 50 shows anexample of the implementation of V2X in a V2V application. Two vehicles30 a-30 b are shown approaching an intersection. The vehicle 30 a maycalculate and/or transmit a signal (e.g., LHS_A). The signal LHS_A mayrepresent one or more of location information, heading informationand/or speed information (e.g., the location and velocity information ofthe vehicle 30 a). The signal LHS_A may be represented in a map as astraight vector. The vehicle 30 a may also calculate and/or transmit asignal (e.g., MPP_A). The signal MPP_A may represent a most probablepath of the vehicle 30 a. The signal MPP_A may be represented in a mapas a straight path or a possibly curved path (e.g., a path that followsa geometry of the road). Similarly, the vehicle 30 b may calculateand/or transmit a signal (e.g., LHS_B). The signal LHS_B may representone or more of location information, heading information and/or speedinformation (e.g., the location and velocity information of the vehicle30 b). The vehicle 30 b may also calculate and/or transmit a signal(e.g., MPP_B). The signal MPP_B may represent a most probable path ofthe vehicle 30 b.

The signal MPP_A and/or the signal MPP_B may be represented as an imageof a directional arrow when shown on an electronic map. The signal MPP_Aand/or MPP_B may also be data sent from one or more of the vehicles 30a-30 n. The signal MPP_A and/or the signal MPP_B may define a path of aprobable movement of the vehicle 30 a and/or the vehicle 30 b. Thesignal LHS_A and/or the signal LHS_B generally represent the currentdirection of the vehicle 30 a or the vehicle 30 b. The signal LHS_Aand/or the signal LHS_B in general do not contemplate a future (orpredicted) direction of the vehicle 30 a and/or the vehicle 30 b. Thesignal MPP_A and/or the signal MPP_B generally represent a predictedprobable path (e.g., a future direction and/or location) of the vehicle30 a and/or the vehicle 30 b. The predicted path in the signal MPP_Aand/or MPP_B may be based on known road conditions (e.g., upcomingintersections, overpasses, traffic lights, etc.) that may be receivedfrom a navigation system, or other external database.

The signal MPP_A and/or MPP_B may be calculated by one or more of thecircuits 100 a-100 n. In some embodiments, the circuit 100 a installedin the vehicle 30 a may calculate the vector LHS_A (e.g., based onsignals received from the satellites 40 a-40 n) and/or the signal MPP_A(e.g., determine the location and velocity information and pathinformation for the vehicle 30 a). The circuit 100 b or anothercomponent installed in the vehicle 30 b may calculate the vector LHS_B(e.g., based on the signals received from the satellites 40 a-40 n) andtransmit the signal LHS_B to the vehicle 30 a. Using the informationfrom the signal LHS_B and the map information, the circuit 100 a maycalculate the signal MPP_B (e.g., one of the vehicles calculates thesignal MPP_A and the signal MPP_B). In some embodiments, the circuit 100b may calculate the signal MPP_B and the vehicle 30 a (or the circuit100 a) may receive the signal MPP_B (e.g., each vehicle calculates arespective signal MPP and communicates the most probable path to othervehicles).

In the example view 50, the signal LHS_B is shown having a similardirection as the signal MPP_B. Since the road is shown as a generallystraight road, the signal MPP_B is also generally straight. However,other examples of road conditions may show differences between thelocation and velocity data (e.g., the signals LHS_A and LHS_B) and thepath data (e.g., the signals MPP_A and MPP_B) (the examples shown inconnection with FIG. 3, FIG. 4, FIG. 5 and FIG. 6).

One or more buildings 54 a-54 n on a roadside may prevent other systems(e.g., vision and/or radar) from detecting other vehicles. For example,the buildings 54 a-54 n are shown blocking a line of sight between thevehicle 30 a and the vehicle 30 b. Transmission of the position, headingand/or speed LHS_A and/or LHS_B may be over ground (e.g., through awireless transmission such as a 5.9 GHz compatible transmission system).Transmission through a wireless spectrum may allow the circuits 100a-100 n to detect a potential collision and provide a warning and/ortake appropriate action when a line of sight is not possible and/orpractical. In some embodiments, the buildings (or other structures suchas cellular towers) 54 a-54 n may be the infrastructure enabling vehicleto infrastructure (V2I) communication.

An intersection point 52 is shown marking the cross between the pathMPP_A and the path MPP_B. The intersection 52 is within a known road, orintersection, and illustrates a scenario where a positive collisionwarning is appropriate. The scenario shown in the overhead view 50 mayrepresent a simple intersection situation where the vector information(e.g., LHS_A and LHS_B) may be used to predict a collision at theintersection 52 and the path data (e.g., MPP_A and MPP_B) may be used topredict a collision at the intersection 52.

Referring to FIG. 3, a diagram of an overhead view 60 shows the vehicle30 a and the vehicle 30 b traveling on two separate roads curving awayfrom each other. The view 60 illustrates the prevention of a potentialfalse positive warning that would occur using only the vector analysis(e.g., the signals LHS_A and LHS_B).

The positions of the vehicle 30 a and/or the vehicle 30 b are shown on acurved road. The vectors LHS_A and/or LHS_B show that the vehicle 30 aand/or the vehicle 30 b are headed for a collision at an intersectionpoint 62. However, the path data MPP_A and MPP_B are shown diverging(e.g., due to the roads curving away from each other). The intersectionpoint 62 is shown at a location that is not on a road. The vectors LHS_Aand LHS_B may not have knowledge of the roads. The path data MPP_Aand/or MPP_B may be calculated based on knowledge of the curve of theroads (e.g., map information). If the potential false positive is notcorrected, an improper collision warning may be issued and/or anerroneous corrective action may result. The system 60 shows how apotential false positive is avoided by analyzing the path data MPP_Aand/or the path data MPP_B. The scenario shown in the overhead view 60may represent a situation where the vector information (e.g., LHS_A andLHS_B) may not be useful to predict a collision at the intersectionpoint 62 (e.g., a false positive may occur) and the path data (e.g.,MPP_A and MPP_B) may be used to predict a collision will not occur atthe intersection point 62.

Referring to FIG. 4, a diagram of an overhead view 70 shows two vehiclesin a possible collision scenario on curved roads that intersect. Thevehicle 30 a and the vehicle 30 b are shown traveling on roads thatcurve towards each other. The view 70 shows how the vectors LHS_A andLHS_B diverge as a result of the curve of the roads. A calculation todetermine a possible collision between the vehicle 30 a and the vehicle30 b using only the vectors LHS_A and LHS_B may indicate that aprobability of collision is low.

Using the map information, the circuits 100 a-100 n may calculate thepath data (e.g., MPP_A and MPP_B). Based on the curvature of the roads,the path data MPP_A and/or MPP_B may be used to detect an intersectionat the intersection point 72. The vehicle 30 a and the vehicle 30 b areon generally parallel (or divergent) separate routes that eventuallyintersect. A calculation without the path data MPP_A and/or MPP_B maynot detect a collision warning. However, with the path data MPP_A and/orMPP_B calculated based on road conditions, a potential collision may bepredicted at the intersection point 72.

Without considering the path data MPP_A and/or MPP_B, the vehicle 30 aand the vehicle 30 b may be determined to not intersect (e.g., apotential collision will not be detected) until there is not sufficienttime to initiate an appropriate warning and/or reaction. The scenarioshown in the overhead view 70 may represent a situation where the vectorinformation (e.g., LHS_A and LHS_B) may not be useful to predict acollision (e.g., a potential false negative result) at the intersectionpoint 72 and the path data (e.g., MPP_A and MPP_B) may be used topredict a collision may occur at the intersection point 72.

Referring to FIG. 5, a diagram of an overhead view 80 of the vehicle 30a and the vehicle 30 b in a context of an overpass is shown. The view 80illustrates the prevention of a false positive in the context of anoverpass. Without taking into account attributes of the roads (e.g.,elevation), a false positive for a collision may occur at anintersection point 82.

An analysis of only the vector LHS_A and the vector LHS_B indicates acollision and/or warning at the intersection point 82. However, analysisof the path data MPP_A compared with the path data MPP_B in connectionwith available map information recognizes an overpass at theintersection point 82. For example, the map information may take intoaccount an elevation of the roadways and/or the vehicles 30 a-30 b. Themap information is used to determine that vehicle 30 b should pass abovevehicle 30 a. A false positive may be avoided. The scenario shown in theoverhead view 80 may represent a situation where the vector information(e.g., LHS_A and LHS_B) may not be useful to predict a collision at theintersection point 82 (e.g., a false positive may occur) and the pathdata (e.g., MPP_A and MPP_B) may be used to predict a collision will notoccur at the intersection point 82 (e.g., by taking into account arelative elevation).

Referring to FIG. 6, a diagram illustrating an overhead view 90 of twovehicles in the context of a possible false collision detection based onroad attributes. The view 90 illustrates the vehicle 30 a travelingalong a road in generally the same direction as the vehicle 30 b. In theexample shown, the vector LHS_A and the vector LHS_B point in generallythe same direction. An analysis using only the location and velocityinformation may not detect a potential collision. Using the mapinformation MPP_A, the apparatus 100 a may determine that the roadcurves and there are potential collisions at the intersection point 92and/or the intersection point 92′.

The map information may further take into account road attributes. Roadattributes 94 are shown in the view 90. In an example, the roadattributes 94 may be traffic signals (e.g., traffic lights, road signs,speed limits, etc.). In another example, the road attributes 94 may be aroad hazard and/or warning (e.g., construction, a traffic accident, poorweather conditions, etc.). In still another example, the road attributes94 may be traffic conditions (e.g., a traffic jam, a police patrolvehicle, emergency vehicles, etc.). The type of the road attributes 94and/or how the road attributes 94 affect the determination of the MPPmay be varied according to the design criteria of a particularimplementation.

The signal MPP_B may indicate that the vehicle 30 b may avoid a pathstraight ahead due to the road attributes 94 and take an alternateroute. The apparatus 100 a and/or 100 b may determine that theprobability of a collision at the intersection point 92 may be unlikely.However, the alternate path of the signal MPP_B is shown intersectingwith the signal MPP_A at the intersection point 92′. The apparatus 100 aand/or the apparatus 100 b may determine a higher probability ofcollision at the intersection point 92′. The scenario shown in theoverhead view 90 may represent a situation where the vector information(e.g., LHS_A and LHS_B) may not be useful to predict a collision at theintersection point 92 and/or the intersection point 92′ and the pathdata (e.g., MPP_A and MPP_B) may be used to predict a collision will notoccur at the intersection point 92 and a collision may occur at theintersection point 92′ (e.g., by taking into account the road attributes94 and/or evaluating multiple potential routes taken by the vehicle 30b).

Referring to FIG. 7, a diagram illustrating the module 100 is shown. Themodule 100 generally comprises a block (or circuit) 102, a block (orcircuit) 104, a block (or circuit) 106 and/or a block (or circuit) 108.The circuit 102 may implement a processor. The circuit 104 may implementan antenna. The circuit 106 may implement a memory. The circuit 108 mayimplement a communication port. Other blocks (or circuits) may beimplemented (e.g., a clock circuit, I/O ports, power connectors, etc.).For example, a block (or circuit) 116 is shown implementing a filter. Inanother example, a block (or circuit) 118 is shown implementing a visionmodule.

Sensors 140 a-140 n are shown connected to the module 100 via anelectronic bus 142. The electronic bus 142 may implement a ControllerArea Network (CAN) bus. The electronic bus 142 may connect to thecommunication port 108. In an example, the sensors 140 a-140 n may becomponents of the vehicle 30 configured to provide data to a vehicle CANbus. In another example, the sensors 140 a-140 n may be wireless devicesconfigured to provide data to the apparatus 100.

The processor 102 may be implemented as a microcontroller and/or a GNSSchipset. In some embodiments, the processor 102 may be a combined (e.g.,integrated) chipset implementing processing functionality and the GNSSchipset. In some embodiments, the processor 102 may be comprised of twoseparate circuits (e.g., the microcontroller and the GNSS chipset). Inan example, an off-board circuit (e.g., a component that is not part ofthe module 100) may perform the functions of the GNSS chipset and sendinformation to the module 100 (e.g., via the bus 142). In anotherexample, an off-board circuit (e.g., a component that is not part of themodule 100) may perform functions for determining location (e.g., deadreckoning data), velocity and/or map data and send information to themodule 100 (e.g., via the bus 142). The design of the processor 102and/or the functionality of various components of the processor 102 maybe varied according to the design criteria of a particularimplementation.

The antenna 104 may be implemented as a dual band antenna capable ofconnecting to both a cellular network and/or a GNSS network (e.g., thesatellites 40 a-40 n). In another example, the antenna 104 may beimplemented as two antennas. For example, one antenna may bespecifically designed to connect to the cellular network (or a V2Vnetwork), while another antenna may be implemented as being optimized toconnect to the GNSS network satellites 40 a-40 n. The antenna 104 may beimplemented as discrete antenna modules and/or a dual band antennamodule. In some embodiments, the antenna 104 may be implemented as anoff-board circuit (e.g., a component that is not part of the module100). For example, the antenna 104 may send/receive data to/from themodule 100 via the electronic bus 142. The implementation of the antenna104 may be varied according to the design criteria of a particularimplementation.

The memory 106 may comprise a block (or circuit) 110, a block (orcircuit) 112 and a block (or circuit) 114. The block 110 may storecomputer readable instructions (e.g., instructions readable by theprocessor 102). The block 112 may store vehicle position data. Forexample, the vehicle position data 112 may store various data sets 120a-120 n. Examples of the data sets may be position coordinates 120 a,speed data 120 b, a time stamp 120 c, heading data 120 d, dead reckoningdata 120 e and/or other data 120 n. The block 114 may store map data. Inan example, the map data 114 may be received from an external source(e.g., a third-party proprietary map network, a free map network,information from other vehicles, etc.). The map data 114 is shownreceiving map information from a signal (e.g., MAP).

The position coordinates 120 a may store location information datacalculated by the module 100 from the signals presented by the GNSSsatellites 40 a-40 n. The signals from the GNSS satellites 40 a-40 n mayprovide data from which a particular resolution of location informationpositional accuracy may be calculated. In some embodiments, the positioncoordinates 120 a may not provide sufficient positional accuracy forparticular applications (e.g., lane detection, autonomous driving,etc.). In an example, a vision system (e.g., the vision module 118)using video data captured by one or more cameras (e.g., one or more ofthe sensors 140 a-140 n) may be used to improve the accuracy of theposition coordinates 120 a. In some embodiments, the positioncoordinates 120 a may be calculated by the filter 116. The positioncoordinates 120 a (e.g., location) may be a component of the locationand velocity information (e.g., the location, heading and speed providedin the signal LHS).

The speed data 120 b may comprise one or more values indicating a speedof the vehicle 30. In an example, the speed data 120 b may be calculatedby the processor 102 based on the position coordinates 120 a (e.g., achange in position over a particular amount of time). In anotherexample, the speed data 120 b may be determined based on data capturedby the sensors 140 a-140 n. In some embodiments, the speed data 120 bmay comprise multiple values to provide a history of the speed of thevehicle 30. In an example, prior values in the speed data 120 b may beused to predict a probable speed when determining the path data (e.g.,MPP). For example, a driver that generally drives faster may reach anintersection earlier than another driver that has a tendency to driveslower. The speed data 120 b (e.g., speed) may be a component of thelocation and velocity information (e.g., the location, heading and speedprovided in the signal LHS).

The time stamp 120 c may be used to determine an age of the vehicleposition data 112. For example, the time stamp 120 c may be used todetermine if the vehicle position data 112 should be considered reliableor unreliable. The time stamp 120 c may be updated when the module 100updates the vehicle position data 112. For example, the time stamp 120 cmay record a time in Coordinated Universal Time (UTC) and/or in a localtime. In an example, the time stamp 120 c may be used to store a historyof the speed data 120 b. The implementation of the time stamp 120 c maybe varied according to the design criteria of a particularimplementation.

The heading data 120 d may comprise one or more values indicating adirection of travel of the vehicle 30. In an example, the heading data120 d may be calculated by the processor 102 based on the positioncoordinates 120 a. In another example, the heading data 120 d may bedetermined based on data from the sensors 140 a-140 n. In someembodiments, the heading data 120 d may comprise multiple values toprovide a history of the heading of the vehicle 30. In an example, priorvalues in the heading data 120 d may be used to predict a probable routeof travel when determining the path data (e.g., MPP). For example, adriver that generally drives using particular routes may repeattraveling the route when traveling in a particular area (e.g., a drivertaking the same route to work each weekday). The heading data 120 d(e.g., heading) may be a component of the location and velocityinformation (e.g., the location, heading and speed provided in thesignal LHS).

The dead reckoning data 120 e may be used to store past and/or presentinformation to determine positions traveled by the vehicle 30. Forexample, the dead reckoning data 120 e may store a previously determinedposition of the vehicle 30 (e.g., estimated speed, estimated time oftravel, estimated location, etc.). The previously determined positionmay be used to help determine a current position of the vehicle 30. Insome embodiments, the dead reckoning data 120 e may be determined basedon data from the sensors 140 a-140 n of the vehicle 30 (e.g., anon-board gyroscope and/or wheel click messages). The dead reckoning data120 e may be used to provide more accurate information for the positioncoordinates 120 a (e.g., location) component of the location andvelocity information (e.g., the location, heading and speed provided inthe signal LHS). The implementation and/or the information stored todetermine the dead reckoning data 120 e may be varied according to thedesign criteria of a particular implementation.

The communication port 108 may allow the module 100 to communicate withexternal devices and/or the sensors 140 a-140 n. For example, the module100 is shown connected to the external electronic bus 142. In someembodiments, the electronic bus 142 may be implemented as a vehicle CANbus. The electronic bus 142 may be implemented as an electronic wirednetwork and/or a wireless network (e.g., the wireless connection 142 a).Generally, the electronic bus 142 may connect one or more component ofthe vehicle enabling a sharing of information in the form of digitalsignals (e.g., a serial bus, an electronic bus connected by wiringand/or interfaces, a wireless interface, etc.).

The communication port 108 may allow the module 100 to share the vehicleposition data 112 with various infrastructure, components of thetransmitting vehicle (e.g., the vehicle 30 a) and/or other vehicles(e.g., the vehicle 30 b). The communication port 108 may allow themodule 100 to receive information from the sensors 140 a-140 n of thevehicle (e.g., the on-board gyroscope data and/or wheel click messagesused to determine the speed data 120 b, the heading data 120 d and/orthe dead reckoning data 120 e). For example, information from the module100 may be communicated to an infotainment device for display to adriver. In another example, a wireless connection (e.g., Wi-Fi,Bluetooth, cellular, etc.) to a portable computing device (e.g., asmartphone, a tablet computer, a notebook computer, a smart watch, etc.)may allow information from the module 100 to be displayed to a user.

The module 100 may be configured to calculate location and velocity dataand/or path data and/or broadcast data (e.g., via the communication port108) such as the positional coordinates 120 a, an age of the data (e.g.,when the data was last updated such as the time stamp 120 c), the speeddata 120 b, the heading data 120 d and/or other data 120 n. A method ofcommunication by the communication port 108 and/or the type of datatransmitted may be varied according to the design criteria of aparticular implementation.

The map data 114 may provide a feature map. In some embodiments, the mapdata 114 may provide centerline data for various roadways. In someembodiments, the map data 114 may provide a high definition map (e.g.,provide lane level positioning). In some embodiments, the map data 114may be ADAS horizon information. The map data 114 may be used toidentify intersecting roads and non-intersecting roads. The map data 114may be used to determine an elevation (or relative elevation) of roads.The map data 114 may identify a location of traffic signals and/ortraffic signs. The map data 114 may provide crowd-sourced information(e.g., traffic conditions, accident reports, road hazards, etc.). Themap data 114 may provide the road attributes 94. The type of data storedas the map data 114 may be varied according to design criteria of aparticular implementation.

The filter 116 may be configured to perform a linear quadraticestimation. For example, the filter 116 may implement a Kalman filter.Generally, the filter 116 may operate recursively on input data toproduce a statistically optimal estimate. For example, the filter 116may be used to calculate the position coordinates 120 a and/or estimatethe accuracy of the position coordinates 120 a. In some embodiments, thefilter 116 may be implemented as a separate module. In some embodiments,the filter 116 may be implemented as part of the memory 106 (e.g., thestored instructions 110). The implementation of the filter 116 may bevaried according to the design criteria of a particular implementation.

The vision module 118 may implement one or more components forimplementing computer vision (e.g., image and/or object detection andanalysis based on captured video data). In an example, the vision module118 may comprise a video processor and/or memory. In some embodiments,one or more of the sensors 140 a-140 n may implement a video capturedevice (e.g., a high-definition camera) for providing video data to thevision module 118. The vision module 118 may process, encode, and/oranalyze captured video frames. Based on the analysis of the videoframes, the vision module 118 may provide additional information to theprocessor 102 to determine a probability of a collision. In an example,the video analysis by the vision module 118 may provide additionalinformation to determine a most probable path of the vehicle 30.

The processor 102 may be configured to execute stored computer readableinstructions (e.g., the instructions 110 stored in the memory 106). Theprocessor 102 may perform one or more steps based on the storedinstructions 110. In an example, the processor 102 may calculate thelocation and velocity information (e.g., based on the signals receivedfrom the GNSS satellites). In another example, one of the stepsexecuted/performed by the processor 102 may determine the predicted path(e.g., the MPP) based on the map data 114. The instructions executedand/or the order of the instructions performed by the processor 102 maybe varied according to the design criteria of a particularimplementation. The processor 102 is shown sending data to and/orreceiving data from the antenna 104, the memory 106 and/or thecommunication port 108.

The processor 102 may be configured to determine coefficients (e.g.,parameters) for calibrating signals generated by the sensors 140 a-140n. For example, the processor 102 may be configured to compare deadreckoning data based on data from the sensors 140 a-140 n with positioncoordinates calculated from the GNSS satellite signals. Based on thecomparison, the processor 102 may determine coefficients to transform(e.g., offset) raw data received from the sensors 140 a-140 n into datathat may be used to determine a position with greater accuracy thanusing the data without being transformed by the coefficients.

The module 100 may be configured as a chipset, a system on chip (SoC)and/or a discrete device. In some embodiments, the module 100 maycomprise a GNSS chipset and be configured to calculate a location,heading and speed (LHS) solution. In some embodiments, the module 100may comprise a GNSS chipset and be configured to calculate the LHSsolution and the dead reckoning solution. In some embodiments, themodule 100 may be configured to receive a data stream that provides theLHS solution and may not determine the dead reckoning solution (e.g.,the module 100 receives LHS data from an off-board component andprovides an off-board component to determine the dead reckoningsolution). In some embodiments, the module 100 may be configured toreceive a data stream that provides the LHS solution and be configuredto calculate the dead reckoning solution.

The processor 102 may be configured to determine the most probable pathfrom the map data 114 and/or the LHS solution. In some embodiments, themodule 100 may calculate the most probable path solution (e.g., MPP). Insome embodiments, the module 100 may receive the most probable pathsolution from an off-board component. In some embodiments, the module100 may receive the most probable path calculated from another vehicle.In some embodiments, the module 100 may calculate the most probable pathsolution and send the signal MPP_A to another vehicle (e.g., 30 b). Insome embodiments, the module may transmit the LHS solution to thevehicle 30 b and the module 100 b may calculate the most probable pathof the vehicle 30 a and the most probable path of the vehicle 30 b. Forexample, some vehicles may not have one of the modules 100 a-100 ninstalled but may still be capable of transmitting the LHS solution fromwhich the module 100 may calculate the most probable path for thevehicle.

In some embodiments, the module 100 may use an external processor (e.g.,an off-board processor) to perform the calculations to determine the MPP(e.g., the memory 106 provides the instructions 110 to the externalprocessor to calculate the MPP). In some embodiments, the instructions110 may be stored on an external memory. The implementation of themodule 100 may be varied according to the design criteria of aparticular implementation.

Referring to FIG. 8, a diagram illustrating a distributed arrangement150 for the module 100 is shown. The module 100 is shown connected tovarious components to send/receive information. A block (or circuit)152, a block (or circuit) 160 and/or a block (or circuit) 170 is shownconnected to the module 100. The circuits 152, 160 and/or 170 may eachcomprise various components such as a processor and a memory and mayoperate independently of each other. Other components (not shown) may beconnected to the module 100 (e.g., a component comprising the visionmodule 118).

The instructions 110 of the memory 106 is shown comprising a module 130,a module 132 and a module 134. The module 130 may be a V2V case code.The V2V case code 130 may implement instructions for communicating withother vehicles. The module 132 may be horizon code. The horizon code 132may implement instructions for determining the path data using the mapdata. The module 134 may implement CAN management and/or diagnosticscode. The CAN management and/or diagnostics code 134 may implementinstructions for communicating with the various communication buses 142a-142 g. In an example, the bus 142 d may implement a high-speed CANtransceiver (e.g., to communicate sensor input, location and velocitydata output, path data output, output from the V2V case code module 130,etc.).

The circuit 152 may be a position module. The position module 152 may beconfigured to calculate a position of the vehicle 30. In an example, theposition module 152 may be a GNSS module. The position module 152 mayreceive communication from the GNSS satellites 40 a-40 n using theantenna 104 a. The position module 152 may be a component separate fromthe module 100. In an example, the position module 152 may communicatelocation and velocity information with the module 100 via the buses 142a and/or 142 b. The position module 152 may comprise a module 154. Themodule 154 may be position and/or dead reckoning software. The positionand/or dead reckoning software 154 may implement instructions fordetermining the position coordinates 120 a, the speed data 120 b, thetime stamp 120 c, the heading data 120 d and/or the dead reckoning data120 e.

The module 160 may be a radio communications module. The radiocommunications module 160 may provide dedicated short-rangecommunications. In an example, the radio communications module 160 maysend and/or receive data using the antennas 140 b-140 c. The radiocommunications module 160 may be a component separate from the module100. In an example, the radio communications module 160 may communicateinformation received from other vehicles (e.g., the signal LHS_B and/orthe signal MPP_B from the vehicle 30 b). The radio communications module160 may communicate information with the module 100 via the bus 142 e.The radio communications module 160 may comprise a module 162. Themodule 162 may be a 802.11P MW module. The 802.11P MW module 162 mayimplement instructions for wireless access in vehicular environments(WAVE). In an example, the 802.11P MW module 160 may implement microwavecommunications (e.g., operate in the 5.9 GHz band). Other wirelesscommunications standards may be implemented. The communication standardimplemented may be varied according to the design criteria of aparticular application.

The module 170 may be a map access module. The map access module 170 maystore and/or receive map information. In an example, the map accessmodule 170 may be a third-party mapping platform (e.g., Google Maps,Apple Maps, Waze, etc.). In another example, the map access module 170may be a pre-installed vehicle component storing updateable mapinformation. In some embodiments, where the map access module 170locally stores map information, the map access module 170 maycommunicate the map information signal MAP via the bus 142 f to thememory 106 for use by the instructions 110 (e.g., the horizon codemodule 132). In some embodiments, where the map access module 170streams map information from an external source, the map access module170 may communicate the map information signal MAP via the bus 142 g tothe map storage 114. The transmission and/or storage of the mapinformation may be varied according to the design criteria of aparticular implementation.

The modules implemented in the distributed arrangement 150 may havevarious implementations. In some embodiments, each of the modules (e.g.,the position module 152, the radio communications module 160 and/or themap access module 170) may be implemented as components of the module100. In some embodiments, one or more of the modules may be combined.For example, the map access module 170 and the position module 152 maybe a single component (e.g., implemented as one circuit board). In someembodiments, additional modules may be implemented (e.g., the positionmodule 152 may calculate the position coordinates 120 a and anothermodule may be implemented for calculating the dead reckoning data 120e). In an example, one additional module implemented as a separatecomponent in the distributed arrangement 150 may be the vision module118.

Referring to FIG. 9, a diagram illustrating an example vision systemimplementation is shown. A video frame 200 is shown. The video frame 200may be a video frame captured by one or more of the sensors 140 a-140 nand processed by the vision module 118. The vision module 118 mayanalyze the video frame 200 and identify (recognize) various objects.For example, the objects identified by the vision module 118 maycomprise: vehicles, pedestrians, traffic signals, traffic signs,roadways, intersections, lanes, weather conditions and/or other roadattributes.

The example video frame 200 may be from the perspective of the vehicle30 a. In the example video frame 200, the vision module 118 may identifythe road 202 a and the road 202 b. The road 202 a may be the road themodule 100 is traveling (e.g., installed in the vehicle 30 a). Thevision module 118 and/or the map information may determine that the road202 b may intersect with the road 202 a. The vision module 118 mayidentify the lanes 204 a-204 b on the road 202 a. In the example shown,the module 100 may be traveling in the lane 204 b. The vehicle 30 c maybe detected traveling as oncoming traffic in the lane 204 a. The vehicle30 b may be detected by the vision module as traveling on the road 202 band approaching the intersection with the road 202 a.

In the example shown, the vision module 118 may detect some objects 206a-206 b as the various road attributes 94. A railroad crossing 206 a maybe one road attribute object. A traffic light 206 b may be one roadattribute object. The traffic light 206 b is shown displaying a greenlight.

Based on the objects detected by the vision module 118, the module 100may be provided additional positioning information to determine theprobability of a collision. In an example, the vision module 118 mayprovide lane level positioning. In another example, the vision module118 may be used to determine a status of traffic lights. For example,the most probable path of the vehicle 30 b may be to travel through theintersection along the road 202 b. However, if the vision module 118detects the traffic light 206 b is green towards the road 202 a, themost probable path for the vehicle 30 b may be to stop before reachingthe intersection. In another example, the most probable path of thevehicle 30 c may be to travel through the intersection along the road202 a. However, if the railroad crossing 206 a indicates a train isapproaching, the most probable path of the vehicle 30 c may be to stopbefore reaching the railroad.

The objects detected by the vision module 118 may be used as areplacement and/or enhancement to the map information. For example, thedata determined by the vision module 118 may be used to determine thepath data. In another example, when the map information providescenterline data, the video analysis by the vision module 118 may provideadditional details about the conditions of the road to improve anaccuracy of collision detection and/or prediction. In yet anotherexample, the map information may identify that a traffic light isupcoming and the vision module 118 may indicate the color of the trafficlight.

Referring to FIG. 10, a method (or process) 250 is shown. The method 250may calculate a potential collision. The method 250 generally comprisesa step (or state) 252, a step (or state) 254, a step (or state) 256, adecision step (or state) 258, a step (or state) 260, a step (or state)262, a step (or state) 264, a step (or state) 266, a step (or state)268, and a step (or state) 270.

The state 252 may start the method 250. Next, in the state 254, theprocessor 102 may calculate the location, heading, and speed data (e.g.,the location and velocity data) from signals received from the GNSSsatellites 40 a-40 n. In an example, the location may be stored in theposition coordinates 120 a, the heading may be stored in the headingdata 120 d and the speed may be stored in the speed data 120 b of thememory 106. In some embodiments, the location and velocity data may bedetermined by calculations from data captured by one or more of thesensors 140 a-140 n. In the state 256, the processor 102 may calculatethe most probable path data (e.g., the path data) from the map data 114(e.g., ADAS horizon data). Next, the method 250 may move to the decisionstate 258.

In the decision state 258, the processor 102 may determine whether thereis another vehicle nearby (e.g., the vehicle 30 b). In an example, theprocessor 102 may determine another vehicle is nearby based oncommunications received via the antenna 104. If another vehicle is notnearby, the method 250 may return to the state 254. If another vehicleis nearby, the method 250 may move to the state 260.

In the state 260, the module 100 may communicate with the nearby vehicle(e.g., via the antenna 104). Next, in the state 262, the module 100 mayreceive the location and velocity data (e.g., the signal LHS_B) from thenearby vehicle 30 b. In the state 264, the processor 102 may calculatethe most probable path of the nearby vehicle (e.g., the path dataMPP_B). For example, the most probable path MPP_B may be calculated forthe nearby vehicle 30 b using the signal LHS_B and the map data 114.Next, in the state 266, the processor 102 may compare the location andvelocity data and the path data corresponding to the module 100 (e.g.,the signal LHS_A and the signal MPP_A of the vehicle 30 a) to thelocation and velocity data and the path data corresponding to the nearbyvehicle (e.g., the signal LHS_B and the signal MPP_B of the vehicle 30b) to determine a probability of a collision.

In the state 268, the module 100 may output the probability of acollision with the nearby vehicle 30. In an example, the probability ofa collision may be transmitted to the CAN bus (e.g., the bus 142). Oneor more components of the vehicle 30 a may use the probability ofcollision to perform a response (e.g., collision avoidance, braking,speeding up, lane centering, selecting an alternate path of travel,initiating a warning to a driver, automatically performing a maneuver,etc.). Next, the method 250 may move to the state 270. The state 270 mayend the method 250.

Referring to FIG. 11, a method (or process) 300 is shown. The method 300may enhance path data using video analysis. The method 300 generallycomprises a step (or state) 302, a step (or state) 304, a step (orstate) 306, a decision step (or state) 308, a step (or state) 310, astep (or state) 312, a step (or state) 314, and a step (or state) 316.The state 302 may start the method 300. In the state 304, the processor102 may calculate the location and velocity data (e.g., LHS) and/or thepath data (e.g., MPP). Next, in the state 306, the vision module 118 mayanalyze one or more video frames captured by one or more of the sensors140 a-140 n. Next, the method 300 may move to the decision state 308.

In the decision state 308, the vision module 118 may determine whetherthere is a traffic signal ahead. In some embodiments, the processor 102may use the map information to determine whether or not a traffic signalis ahead (e.g., locations of traffic lights may be embedded as part ofthe map information). If there is not a traffic signal ahead, the method300 may move to the state 314. If there is a traffic signal ahead, themethod 300 may move to the state 310.

In the state 310, the vision module 118 may determine the status of thetraffic signal. In an example, if the traffic signal is a traffic light,the vision module 118 may determine the color of the light that iscurrently activated (e.g., red, green, yellow, advanced green, etc.).Next, in the state 312, the processor 102 may update the path data basedon the status of the traffic signal (e.g., based on an output from thevision module 118). In an example, the most probable path of the vehicle30 a may be updated to stop at a red traffic light. In the state 314,the processor 102 may determine the probability of collision with anynearby vehicles (e.g., the vehicles 30 b-30 n). Next, the method 300 maymove to the state 316. The state 316 may end the method 300.

Referring to FIG. 12, a method (or process) 350 is shown. The method 350may determine most probable path data based on vehicle capabilities. Themethod 350 generally comprises a step (or state) 352, a step (or state)354, a step (or state) 356, a step (or state) 358, a step (or state)360, a decision step (or state) 362, a step (or state) 364, a step (orstate) 366, a step (or state) 368, a step (or state) 370, and a step (orstate) 372.

The state 352 may start the method 350. Next, in the state 354, theprocessor 102 may calculate the location, heading, and speed data (e.g.,the location and velocity data) from signals received from the GNSSsatellites 40 a-40 n. In an example, the location may be stored in theposition coordinates 120 a, the heading may be stored in the headingdata 120 d and the speed may be stored in the speed data 120 b of thememory 106. In the state 356, the processor 102 may calculate the mostprobable path data (e.g., the path data) from the map data 114 (e.g.,ADAS horizon data). Next, in the state 358, the module 100 maycommunicate with the nearby vehicle (e.g., via the antenna 104). In thestate 360, the module 100 may receive the location and velocity data(e.g., the signal LHS_B) from the nearby vehicle 30 b. Next, the method350 may move to the decision state 362.

In the decision state 362, the processor 102 may determine whether thenearby vehicle 30 b can calculate the most probable path data. In anexample, some nearby vehicles may not have a capability of calculatingthe MPP (e.g., the vehicle 30 b does not have access to ADAS Horizondata, the vehicle 30 b may not have access to the module 100, etc.) andanother vehicle equipped with the module 100 may be able to calculatethe MPP for both vehicles. If the nearby vehicle cannot calculate theMPP data, the method 350 may move to the state 364. In the state 364,the processor 102 may use the signal LHS to calculate the most probablepath of the nearby vehicle 30 b (e.g., the module 100 a in the vehicle30 a is used to calculate the MPP for the vehicle 30 b). Next, themethod 350 may move to the state 368. In the decision state 362, if thenearby vehicle can calculate the MPP data, the method 350 may move tothe state 366. In the state 366, the module 100 may receive the MPP data(e.g., MPP_B) calculated by the nearby vehicle 30 b. Next, the method350 may move to the state 368.

In the state 368, the processor 102 may compare the location andvelocity data and the path data corresponding to the module 100 (e.g.,the signal LHS_A and the signal MPP_A of the vehicle 30 a) to thelocation and velocity data and the path data corresponding to the nearbyvehicle (e.g., the signal LHS_B and the signal MPP_B of the vehicle 30b) to determine a probability of a collision. Next, in the state 370,the module 100 may output the probability of a collision with the nearbyvehicle 30 b. In an example, the probability of a collision may betransmitted to the CAN bus (e.g., the bus 142). One or more componentsof the vehicle 30 a may use the probability of collision to perform aresponse (e.g., collision avoidance, braking, speeding up, lanecentering, selecting an alternate path of travel, initiating a warningto a driver, automatically performing a maneuver, etc.). Next, themethod 350 may move to the state 372. The state 372 may end the method350.

In some embodiments, the module 100 may be implemented as a mobiledevice. In an example, the mobile device may be a smartphone, a smartwatch, a portable wireless device, etc. In some embodiments, the module100 may be carried by a pedestrian. In an example, the module 100 a maybe installed in the vehicle 30 a and the module 100 b may be carried bya pedestrian to warn the vehicle 30 a of a potential collision with apedestrian.

The functions and structures illustrated in the diagrams of FIGS. 1 to12 may be designed, modeled, emulated, and/or simulated using one ormore of a conventional general purpose processor, digital computer,microprocessor, microcontroller, distributed computer resources and/orsimilar computational machines, programmed according to the teachings ofthe present specification, as will be apparent to those skilled in therelevant art(s). Appropriate software, firmware, coding, routines,instructions, opcodes, microcode, and/or program modules may readily beprepared by skilled programmers based on the teachings of the presentdisclosure, as will also be apparent to those skilled in the relevantart(s). The software is generally embodied in a medium or several media,for example non-transitory storage media, and may be executed by one ormore of the processors sequentially or in parallel.

Embodiments of the present invention may also be implemented in one ormore of ASICs (application specific integrated circuits), FPGAs (fieldprogrammable gate arrays), PLDs (programmable logic devices), CPLDs(complex programmable logic device), sea-of-gates, ASSPs (applicationspecific standard products), and integrated circuits. The circuitry maybe implemented based on one or more hardware description languages.Embodiments of the present invention may be utilized in connection withflash memory, nonvolatile memory, random access memory, read-onlymemory, magnetic disks, floppy disks, optical disks such as DVDs and DVDRAM, magneto-optical disks and/or distributed storage systems.

The terms “may” and “generally” when used herein in conjunction with“is(are)” and verbs are meant to communicate the intention that thedescription is exemplary and believed to be broad enough to encompassboth the specific examples presented in the disclosure as well asalternative examples that could be derived based on the disclosure. Theterms “may” and “generally” as used herein should not be construed tonecessarily imply the desirability or possibility of omitting acorresponding element.

While the invention has been particularly shown and described withreference to embodiments thereof, it will be understood by those skilledin the art that various changes in form and details may be made withoutdeparting from the scope of the invention.

The invention claimed is:
 1. An apparatus comprising: an antennaconfigured to receive signals from GNSS satellites; a processorconfigured to execute instructions; and a memory configured to storeinstructions that, when executed by the processor, perform the steps of(i) calculating first location and velocity data based on said signalsreceived from said GNSS satellites, (ii) calculating first path databased on map information, (iii) receiving second location and velocitydata, (iv) determining second path data, (v) performing a comparison of(a) said first location and velocity data and said first path data to(b) said second location and velocity data and said second path data and(vi) determining a probability of collision based on said comparison,wherein said first and said second path data is used to augment saidfirst and said second location and velocity data for determining saidprobability of collision by indicating a probability of collision, basedon roadway information in said map information, that is opposite of oneindicated by said first and said second location and velocity data. 2.The apparatus according to claim 1, wherein (i) said first and saidsecond location and velocity data comprises a location, a heading and aspeed value and (ii) said first and said second path data comprises amost probable path.
 3. The apparatus according to claim 1, wherein saidmap information comprises a feature map comprising data about roadways.4. The apparatus according to claim 3, wherein (i) said data of saidfeature map comprises at least one of (a) centerline data about saidroadways and (b) high definition maps of said roadways and (ii) saidfeature map implements an advanced driver assistance systems horizoncomprising information about at least one of upcoming roadway curvature,upcoming roadway slope, upcoming roadway lanes, upcoming speed limits,upcoming traffic signals and upcoming signage.
 5. The apparatusaccording to claim 1, wherein said first and said second path data isused to augment said first and said second location and velocity datafor determining said probability of collision by indicating a collisionis not possible based on an arrangement of roadways when said first andsaid second location and velocity data indicates a collision isimminent.
 6. The apparatus according to claim 1, wherein said first andsaid second path data is used to augment said first and said secondlocation and velocity data for determining said probability of collisionby indicating a collision is likely based on an arrangement of roadwayswhen said first and said second location and velocity data indicates acollision is not possible.
 7. The apparatus according to claim 6,wherein said collision is likely because at least one of (i) saidroadways intersect each other and (ii) said roadways merge with eachother.
 8. The apparatus according to claim 1, wherein (a) saidprobability of collision is transmitted as an output to a vehicle systemand (b) said vehicle system generates at least one of (i) a warning to adriver and (ii) a signal to implement an automated collision avoidancein response to said output from said apparatus.
 9. The apparatusaccording to claim 1, wherein said second location and velocity data iscommunicated by at least one of (a) a component of a vehicle and (b)infrastructure.
 10. The apparatus according to claim 1, wherein saidfirst and said second path data further comprises vision data.
 11. Theapparatus according to claim 10, wherein said vision data is (a) used todetermine lane level position and (b) implemented to augment saiddetermination of said probability of collision in lane changingscenarios.
 12. The apparatus according to claim 10, wherein said visiondata is (a) implemented to determine traffic signals and (b) saidtraffic signals are used to determine at least one of (i) said firstpath data and (ii) said second path data.
 13. The apparatus according toclaim 1, wherein said second path data is calculated by said apparatusbased on (i) said second location and velocity data and (ii) said mapinformation.
 14. The apparatus according to claim 1, wherein (i) saidapparatus is implemented in a first vehicle and (ii) said second pathdata is received from another vehicle.
 15. The apparatus according toclaim 1, wherein (i) said map information comprises road attributes and(ii) said road attributes are used to determine said probability of saidcollision.
 16. The apparatus according to claim 1, wherein saidapparatus is implemented on a mobile device as a retrofit for a vehicle.17. The apparatus according to claim 1, wherein said apparatus isimplemented on a mobile device configured to determine said probabilityof said collision with a pedestrian.
 18. A method for detectingpotential vehicle collisions comprising the steps of: (A) calculatinglocation and velocity data for a first vehicle based on signals receivedfrom GNSS satellites using an antenna on said first vehicle; (B)calculating path data for said first vehicle based on map information;(C) receiving location and velocity data about a second vehicle using awireless communication circuit on said first vehicle; (D) receiving pathdata about said second vehicle; (E) performing a comparison of (i) saidlocation and velocity data and said path data of said first vehicle to(ii) said location and velocity data and said path data of said secondvehicle; and (F) determining a probability of a collision between saidfirst vehicle and said second vehicle based on said comparison, whereinsaid path data of said first and said second vehicles is used to augmentsaid location and velocity data of said first and said second vehiclesfor determining said probability of collision by indicating aprobability of collision, based on an arrangement of roadways indicatedby said map information, that is opposite of one indicated by saidlocation and velocity data of said first and said second vehicles.
 19. Anon-transitory computer readable medium containing processor executableinstructions configured to perform the steps of: (A) receiving a firstinput comprising location and velocity data calculated for a firstvehicle based on signals received from GNSS satellites using an antennaon said first vehicle; (B) receiving a second input comprising path dataabout said first vehicle calculated based on map information; (C)receiving a third input comprising location and velocity data about anexternal vehicle using a wireless communication circuit of said firstvehicle; (D) receiving a fourth input comprising second path data aboutsaid external vehicle; (E) performing, with a processor, a comparison of(i) said first input and said second input to (ii) said third input andsaid fourth input to determine a probability of collision with saidvehicle; and (E) generating, with said processor, an output based onsaid probability of collision between said first vehicle and saidexternal vehicle, wherein said second input and said fourth input areused by said processor to augment said first and said third inputs fordetermining said probability of collision by generating said outputindicating a probability of collision that is opposite of one indicatedby said first and said third inputs based on an arrangement of roadwaysindicated by said map information.
 20. The non-transitory computerreadable medium according to claim 19, wherein one or more of said firstinput, said second input, said third input and said fourth input arereceived from at least one of: calculations performed by said processor,a software module, an off-board circuit, an on- board circuit, one ormore components of said external vehicle, and infrastructure.